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I've slept IN the Badlands at night IN my car multiple times. Never was talked to ever.
I've also never seen a Mountain Lion and I've hiked roughly 25% of the park multiple times through 10 years. Deer yes, Bison yes, Goats yes, Prairie dogs yes, Rattle Snakes yes, Cougars no...
There are Bears and Cougars in the black hills, I've found Cougar prints in custer state park a couple of times.
If you have any general questions about that area ask. I've lived there for a good 10 years and moving back again soon because I missed it a lot.